AGV (Automatic Guided Vehicle) zero correction method and system and AGV

Abstract

The invention provides an AGV zero position correction method and system and an AGV trolley, and relates to the technical field of AGV zero position correction, and the method comprises the steps: obtaining an angular velocity value when the AGV executes a straight movement instruction; when the angular velocity value exceeds a preset angular velocity threshold value, the deviation of the to-be-adjusted steering wheel is adjusted based on the angular velocity value until the angular velocity value obtained again is smaller than the angular velocity threshold value, and the to-be-adjusted steering wheel is any one of the first steering wheel and the second steering wheel; obtaining a lateral deviation speed value of the AGV; and when the transverse deviation speed value exceeds a preset speed threshold value, the deviation of the first steering wheel and the second steering wheel is adjusted based on the transverse deviation speed value until the transverse deviation speed value obtained again is smaller than the speed threshold value. The method is used for overcoming the defect that in the prior art, zero position deviation correction of the AGV is achieved through zero position adjustment of a single steering wheel, and consequently deviation correction precision is not high, whole vehicle deviation correction based on the double-steering-wheel AGV is achieved, and the zero position calibration level of the AGV is effectively improved.

Description

technical field [0001] The invention relates to the technical field of AGV zero position correction, in particular to an AGV zero position correction method, a system and an AGV car. Background technique [0002] AGV (Automated Guide Vehicle, AGV for short) refers to a vehicle that does not require operators, is equipped with automatic guidance devices such as electromagnetic or optical, and can travel along the planned guidance path, with safety protection and various transfer loads. Functional transporter. The trolley usually uses the battery as the power source, and the on-board controller installed on the trolley controls the operation of the vehicle and communicates with the upper system. At present, the driving methods used by AGV mainly include steering wheel drive, differential drive, etc. [0003] Although the AGV trolley is convenient to use, due to the mechanical assembly of the car body processing and the inaccurate zero return during movement, the zero positio...

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Problems solved by technology

[0004] The present invention provides an AGV zero position correction method, system and AGV trolley, which are used to solve the defect in the prior art that the zero position correction of the AGV trolley is realized through the zero position adjustment of a single steering wheel, and the correction accuracy is not high. The whole vehicle deviation correction of the double steering wheel AGV car effectively improves the zero calibration level of the AGV car

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